JP5093692B2 - Inverter device and its output voltage detection method - Google Patents
Inverter device and its output voltage detection method Download PDFInfo
- Publication number
- JP5093692B2 JP5093692B2 JP2009521559A JP2009521559A JP5093692B2 JP 5093692 B2 JP5093692 B2 JP 5093692B2 JP 2009521559 A JP2009521559 A JP 2009521559A JP 2009521559 A JP2009521559 A JP 2009521559A JP 5093692 B2 JP5093692 B2 JP 5093692B2
- Authority
- JP
- Japan
- Prior art keywords
- phase
- voltage
- inverter
- line
- voltage detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims description 96
- 239000004065 semiconductor Substances 0.000 claims description 17
- 230000007704 transition Effects 0.000 claims description 10
- 230000000630 rising effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 230000005526 G1 to G0 transition Effects 0.000 claims description 4
- 230000001052 transient effect Effects 0.000 claims description 3
- 230000006698 induction Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000013256 coordination polymer Substances 0.000 description 2
- 230000002730 additional effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/0084—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring voltage only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/40—Testing power supplies
- G01R31/42—AC power supplies
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Inverter Devices (AREA)
- Control Of Ac Motors In General (AREA)
Description
本発明は、インバータ出力電圧を高速に検出すると共に、モータ残留電圧または位相を検出するインバータ装置とその出力電圧検出方法に関する。 The present invention relates to an inverter device that detects an inverter output voltage at a high speed and detects a motor residual voltage or phase, and an output voltage detection method thereof.
第１の従来技術は、「インバータにおける電圧検出回路に関する」ものであり、「インバータ出力電圧を直流入力電圧の略１／２でノイズの影響なく高速に検出し、誘導電動機の回転むらをなくすことができるインバータにおける電圧検出回路を提供すること」を目的としているものである（例えば、特許文献１参照）。
また、第２の従来技術は、「誘導電動機を可変速駆動する電力変換装置に関する」ものであり、「駆動制御対象である誘導電動機の回転数を検出することができる小形、低コストの電力変換装置を得ることを目的」としているものである（例えば、特許文献２参照）。The first prior art is “related to a voltage detection circuit in an inverter”, and “inverter output voltage is detected at a high speed without being affected by noise at approximately half of the DC input voltage, and uneven rotation of the induction motor is eliminated. The object is to provide a voltage detection circuit in an inverter capable of performing the above-mentioned (for example, see Patent Document 1).
The second prior art is “related to a power conversion device that drives an induction motor at a variable speed” and “a small, low-cost power conversion that can detect the number of rotations of an induction motor that is a drive control target”. The purpose is to obtain an apparatus ”(see, for example, Patent Document 2).
第１の従来技術は、「インバータの直流電圧Ｖｄｃを１／２に分圧する分圧回路ＲU 、ＲX と、検出電源（ドライブ電源）Ｅ1 ＋Ｅ2 に逆並列に接続されインバータの出力電圧ＶAと分圧電圧ＶB が入力するダイオードブリッジＤU A 1 、ＤX A 1 、ＤU A 2 、ＤX A 2 と、出力電圧ＶA と分圧電圧ＶB とを比較するコンパレータＣＰと、電源Ｅ1＋Ｅ2 に抵抗Ｒ4を介して接続されコンパレータＣＰによりオン、オフ制御されるフォトカプラで構成」されており（図示しない）、「インバータ主回路の上アーム及び下アームのスイッチング素子のＯＮ、ＯＦＦ」、すなわちインバータ出力電圧「を直流入力電圧の略１／２で高速に検出することができる」のである。The first conventional technique is “the output voltage of the inverter connected in reverse parallel to the voltage dividing circuits R U and R X that divide the DC voltage Vdc of the inverter into 1/2 and the detection power source (drive power source) E 1 + E 2. Diode bridges D UA 1 , D XA 1 , D UA 2 , D XA 2 to which V A and the divided voltage V B are input, a comparator CP that compares the output voltage V A and the divided voltage V B , and a power source E 1 + E 2 is connected via a resistor R 4 and is composed of a photocoupler which is controlled to be turned on and off by a comparator CP (not shown), and “the switching elements of the upper and lower arms of the inverter main circuit are turned on, “OFF”, that is, the inverter output voltage “can be detected at a high speed with approximately half of the DC input voltage”.
一方、第２の従来技術は、「電圧極性検出回路５ａは分圧抵抗９と分圧抵抗９と直列に接続される抵抗１０と抵抗１０の両端電圧の極性を検出する極性判別用コンパレータ１１ａとから構成され」ており（図示しない）、「瞬時停電等により誘導電動機がフリーラン状態にあるとき、誘導電動機１次側に発生している残留電圧を」「任意の半導体スイッチング素子1素子をオンすることにより、フリーラン状態の誘導電動機の線間の電位を直流電圧部に対して確定させ、直流電圧部とモータ配線との間の電圧極性検出回路により、残留電圧極性を検出することができる」のである。
このように、第１または２の従来技術では、検出信号の応答性に相応した回路構成としている為、すなわち高速な検出を要するインバータ出力電圧検出を主目的とするものと、比較的高速な検出を要しない残留電圧または位相検出を主目的とするものとで分かれた回路構成で、それぞれを検出しているのである。
As described above, in the first or second conventional technology, since the circuit configuration corresponds to the response of the detection signal, that is, the inverter output voltage detection that requires high-speed detection is the main purpose, the detection is relatively high-speed. Each of them is detected by a circuit configuration separated from the main purpose of the residual voltage or phase detection that does not need to be detected.
第１または２の従来技術では、それぞれが異なる目的の電圧を検出する専用的な回路構成なため、両電圧、すなわちインバータ出力電圧を高速に検出すると共に、モータ残留電圧または位相を検出することができないという問題があった。
具体的には、第１の従来技術では、高速かつ高い電圧検出精度を得る為に、インバータ部のスイッチング変化に追従できる高速なパルス検出回路（１ｕｓ以下）が必要となり、ツェナーダイオードやダイオードを使用した電流変化を捉えたレベルシフト回路構成が一般的となっている。しかしながら、レベルシフト回路構成ではモータより発生するモータ残留電圧または位相を検出することができないという問題があった。
一方、第２の従来技術では、モータ残留電圧または位相を検出する為に、抵抗分圧比によるアナログレベルの検出回路を構成した場合、分圧抵抗の消費電力を大きくしないと高速なパルス検出ができず、高速なパルス検出をしようとすると回路面積が大きくなるという問題もあった。
本発明はこのような問題点に鑑みてなされたものであり、インバータ部のスイッチング変化を高速にパルス検出すると共に、モータ残留電圧または位相を検出できる高速パルス検出と残留電圧または位相検出の検出部を共通回路として備え、回路構成を簡単化すると共に、低コスト化、装置の小型化を図ることができるインバータ装置とその出力電圧検出方法を提供することを目的とする。In the first and second prior arts, each has a dedicated circuit configuration for detecting a different target voltage, so that both voltages, that is, the inverter output voltage, can be detected at a high speed, and the motor residual voltage or phase can be detected. There was a problem that I could not.
Specifically, in the first prior art, in order to obtain high speed and high voltage detection accuracy, a high speed pulse detection circuit (1 us or less) that can follow the switching change of the inverter unit is required, and a Zener diode or a diode is used. A level shift circuit configuration that captures the changed current is common. However, the level shift circuit configuration has a problem that the motor residual voltage or phase generated from the motor cannot be detected.
On the other hand, in the second prior art, when an analog level detection circuit based on the resistance voltage dividing ratio is configured to detect the motor residual voltage or phase, high-speed pulse detection can be performed unless the power consumption of the voltage dividing resistor is increased. However, there is also a problem that the circuit area increases when high-speed pulse detection is attempted.
The present invention has been made in view of such problems, and detects a switching change of an inverter unit at a high speed and detects a motor residual voltage or phase at high speed pulse detection and a residual voltage or phase detection detection unit. Is provided as a common circuit, and an object of the present invention is to provide an inverter device and an output voltage detection method thereof that can simplify the circuit configuration, reduce the cost, and reduce the size of the device.
上記問題を解決するため、本発明は、次のように構成したのである。
請求項１に記載の発明は、直流電力をインバータ部に供給する直流電源部と、半導体スイッチング素子および前記半導体スイッチング素子に並列に接続された還流ダイオードより構成され、前記直流電力を交流電力に変換するインバータ部と、前記インバータ部と駆動制御対象であるモータとの間に接続され、前記インバータ部の相電圧を検出する電圧検出部と、を備えたインバータ装置において、スイッチング過渡時でも検出電流を流すことによりスイッチング変化時まで含めて前記相電圧を検出する前記電圧検出部と、前記電圧検出部の出力である１相分の相電圧検出値と第１の基準電圧値との比較に基づいて高速パルスを検出する回路と、前記電圧検出部の出力である２相分の相電圧検出値に基づいて線間残留電圧を検出する回路と、前記線間残留電圧と第２の基準電圧値との比較に基づいて線間位相または前記モータの誘起電圧を検出する回路と、を１つの共通の回路内に組み込むことにより、高速パルス検出機能と残留電圧検出機能又は位相検出機能とを併せ持つインバータ出力電圧検出回路を設けたものである。
また、請求項２に記載の発明は、請求項１記載の発明における前記インバータ出力電圧検出回路が、前記相電圧検出値に基づいて、前記高速パルスおよび前記線間残留電圧ならびに前記線間位相を一括に検出するものである。
また、請求項３に記載の発明は、請求項１記載の発明における前記電圧検出部が、一方の端を前記インバータ部と前記モータとの間に接続し、他端を第２の抵抗器に接続した第１の抵抗器と、一方の端を前記第１の抵抗器に接続し、他端を第３の抵抗器に接続した前記第２の抵抗器と、一方の端を前記第２の抵抗器に接続し、他端を前記直流電源部のＮラインに接続した前記第３の抵抗器と、アノードを前記インバータ部と前記モータとの間に接続し、カソードを前記第１の抵抗器と前記第２の抵抗器が接続された箇所に接続した高速ダイオードと、で構成されたものである。
また、請求項４に記載の発明は、請求項１記載の発明における前記高速パルスが、前記インバータ部における１相分の前記半導体スイッチング素子がオンオフ動作時の立上りまたは立下り過渡期に検出するものである。
また、請求項５に記載の発明は、請求項１記載の発明における前記線間残留電圧または線間位相が、前記インバータ部における１相分の前記半導体スイッチング素子がオンオフ動作時の定常期に検出するものである。
請求項６に記載の発明は、直流電力をインバータ部に供給する直流電源部と、半導体スイッチング素子および前記半導体スイッチング素子に並列に接続された還流ダイオードより構成され、前記直流電力を交流電力に変換するインバータ部と、前記インバータ部と駆動制御対象であるモータとの間に接続され、スイッチング過渡時でも検出電流を流すことによりスイッチング変化時まで含めて前記インバータ部の相電圧を検出する電圧検出部と、を備えたインバータ装置の出力電圧検出方法において、前記電圧検出部の出力である１相分の相電圧検出値と第１の基準電圧値との比較に基づいて高速パルスを検出し、前記電圧検出部の出力である２相分の相電圧検出値に基づいて線間残留電圧を検出し、前記線間残留電圧と第２の基準電圧値との比較に基づいて線間位相を検出することにより、高速パルス検出機能と残留電圧検出機能又は位相検出機能とを１つの回路で共通化したのである。
また、請求項７に記載の発明は、請求項６記載の発明における前記相電圧検出値に基づいて、前記高速パルスおよび前記線間残留電圧ならびに前記線間位相を一括に検出するのである。
また、請求項８に記載の発明は、請求項６記載の発明における前記高速パルスを、前記インバータ部における１相分の前記半導体スイッチング素子がオンオフ動作時の立上りまたは立下り過渡期に検出するのである。
また、請求項９に記載の発明は、請求項６記載の発明における前記線間残留電圧または線間位相を、前記インバータ部における１相分の前記半導体スイッチング素子がオンオフ動作時の定常期に検出するのである。
In order to solve the above problem, the present invention is configured as follows.
The invention according to
According to a second aspect of the present invention, the inverter output voltage detection circuit according to the first aspect of the invention is configured to calculate the high-speed pulse, the line residual voltage, and the line phase based on the phase voltage detection value. This is a collective detection.
According to a third aspect of the present invention, in the voltage detection unit according to the first aspect of the present invention, one end is connected between the inverter unit and the motor, and the other end is a second resistor. The connected first resistor, one end connected to the first resistor, the other end connected to a third resistor, and one end connected to the second resistor A third resistor connected to the resistor, the other end connected to the N line of the DC power supply unit, an anode connected between the inverter unit and the motor, and a cathode connected to the first resistor; And a high-speed diode connected to a location where the second resistor is connected.
According to a fourth aspect of the present invention, the high-speed pulse according to the first aspect of the invention is detected in a rising or falling transition period during ON / OFF operation of the semiconductor switching element for one phase in the inverter unit. It is.
According to a fifth aspect of the present invention, the line residual voltage or the line phase in the first aspect of the invention is detected in a stationary period when the semiconductor switching element for one phase in the inverter section is in an on / off operation. To do.
The invention according to claim 6 comprises a DC power supply unit that supplies DC power to the inverter unit, a semiconductor switching element and a free wheel diode connected in parallel to the semiconductor switching element, and converts the DC power to AC power. And a voltage detection unit that is connected between the inverter unit and a motor that is a drive control target, and that detects a phase voltage of the inverter unit including a time of switching change by causing a detection current to flow even during a switching transient. And detecting a high-speed pulse based on a comparison between a phase voltage detection value for one phase, which is an output of the voltage detection unit, and a first reference voltage value, A line residual voltage is detected based on a phase voltage detection value for two phases that is an output of the voltage detector, and the line residual voltage and the second reference voltage value are By detecting line-to-line phase based on the comparison, it was in common a high-speed pulse detection function and the residual voltage detection or phase detection by a single circuit.
The invention according to claim 7 collectively detects the high-speed pulse, the line-to-line residual voltage, and the line-to-line phase based on the phase voltage detection value in the invention according to claim 6.
According to an eighth aspect of the invention, the high-speed pulse according to the sixth aspect of the invention is detected at the rising or falling transition period of one phase of the semiconductor switching element in the inverter section during the on / off operation. is there.
The invention according to claim 9, the line-to-line residual voltage or line between the phases in the invention of claim 6, wherein the stationary phase at the time of the semiconductor switching element for one phase is turned on and off in the inverter unit It detects.
請求項１、２、６、７に記載の発明によると、簡単な回路構成の共通の回路で、インバータ部のスイッチング変化を高速にパルス検出できると共に、線間残留電圧または位相をも検出することができる。また、簡単な回路構成のため、低コスト化、装置の小型化を図ることができる。
また、請求項３に記載の発明によると、高速ダイオードの追加効果により、分圧抵抗器の消費電力が小さくても高速パルス検出および線間残留電圧または位相検出ができ、回路面積の最小化を図ることができる。
また、請求項４、５、８、９に記載の発明によると、半導体スイッチング素子のオンオフ動作に伴う全ての状況（過渡期、定常期）において、高速パルス検出、あるいは線間残留電圧または位相検出をすることができる。According to the first, second, sixth, and seventh aspects of the invention, a common circuit having a simple circuit configuration can detect the switching change of the inverter section at high speed and also detect the residual voltage or phase between lines. Can do. In addition, since the circuit configuration is simple, the cost can be reduced and the size of the apparatus can be reduced.
Further, according to the invention described in claim 3, due to the additional effect of the high-speed diode, high-speed pulse detection and line-to-line residual voltage or phase detection can be performed even if the power consumption of the voltage dividing resistor is small, and the circuit area can be minimized. Can be planned.
According to the invention described in claims 4, 5, 8, and 9, in all situations (transitional period, steady period) associated with the on / off operation of the semiconductor switching element, high-speed pulse detection, line residual voltage or phase detection Can do.
１ 直流電源部
２ インバータ部
３ 電圧検出部
４ インバータ出力電圧検出回路
５ モータ
Ｖｐｎ 直流電圧
Ｖｐｕ 高速パルス
Ｑ１〜Ｑ６ スイッチング素子（ＩＧＢＴ）
Ｒ１〜Ｒ９ 分圧抵抗器
Ｄ１〜Ｄ３ 高速応答用ダイオード
Ｉ１〜Ｉ４ 電流ルート
Ｕ１ オペアンプ
Ｕ２〜３ コンパレータ
Ｖｒｅｆ１ 電圧パルス生成用指令電圧
Ｖｒｅｆ２ 位相検出用指令電圧
Ｖｕ、Ｖｖ、Ｖｗ 相電圧検出信号
Ｖｕｖ 残留電圧検出信号（線間電圧）
Ｖｐｈｕｖ 位相検出信号DESCRIPTION OF
R1 to R9 Voltage dividing resistors D1 to D3 High-speed response diodes I1 to I4 Current route U1 Operational amplifier U2-3 Comparator Vref1 Voltage pulse generation command voltage Vref2 Phase detection command voltages Vu, Vv, Vw Phase voltage detection signal Vuv Residual voltage Detection signal (line voltage)
Vphuv phase detection signal
以下、本発明の実施の形態について図を参照して説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
図１は、本発明のインバータ装置における主要部分の概略構成図である。図において、１は直流電源部、２はインバータ部、３は電圧検出部、４はインバータ出力電圧検出回路、５はインバータ装置で駆動するモータである。
本発明が従来技術と異なる部分は、インバータ部２とモータ５とを結ぶ出力ラインに、電圧検出部３を有したインバータ出力電圧検出回路４を構成し、高速なパルス検出と残留電圧または位相検出とを共通回路構成とした部分である。FIG. 1 is a schematic configuration diagram of a main part in an inverter device of the present invention. In the figure, 1 is a DC power supply unit, 2 is an inverter unit, 3 is a voltage detection unit, 4 is an inverter output voltage detection circuit, and 5 is a motor driven by the inverter device.
The present invention is different from the prior art in that an inverter output voltage detection circuit 4 having a voltage detection unit 3 is formed on an output line connecting the inverter unit 2 and the motor 5 so that high-speed pulse detection and residual voltage or phase detection are performed. And a common circuit configuration.
電圧検出部３が、各相（Ｕ、Ｖ、Ｗ相）と直流電源部１のＮラインとの間に、直列に接続された３つの分圧抵抗（例えば、Ｕ相はＲ１、Ｒ２、Ｒ３）と、出力ラインに接続された分圧抵抗（例えば、Ｕ相はＲ１）と並列に出力ラインに接続された高速応答用ダイオード（例えば、Ｕ相はＤ１）を備える。Ｕ相を例に挙げれば、分圧抵抗Ｒ３の直流電源部１のＮラインに接続された側とは異なる他端の電圧を監視すれば、インバータ出力電圧を検出することができる。
The voltage detection unit 3 includes three voltage dividing resistors (for example, the U phase is R1, R2, R3) connected in series between each phase (U, V, W phase) and the N line of the DC power supply unit 1. ) And a voltage dividing resistor connected to the output line (for example, U phase is R1) and a fast response diode (for example, U phase is D1) connected to the output line. Taking the U phase as an example, the inverter output voltage can be detected by monitoring the voltage at the other end different from the side connected to the N line of the DC
インバータ出力電圧検出回路４が、電圧検出部３とは別に、基準電圧Ｖｒｅｆ１（電圧パルス生成用指令電圧）とＵ相インバータ出力電圧Ｖｕとを比較するコンパレータＵ３と、Ｕ相インバータ出力電圧ＶｕとＶ相インバータ出力電圧Ｖｖとの差を演算するオペアンプＵ１と、オペアンプＵ１の出力と他の基準電圧Ｖｒｅｆ２（位相検出用指令電圧）とを比較するコンパレータＵ２とを備える。
なお、ここではＵ相を例に挙げたが、Ｖ相およびＷ相も同様に、１つのオペアンプと２つのコンパレータを備える。The inverter output voltage detection circuit 4 includes a comparator U3 that compares the reference voltage Vref1 (voltage pulse generation command voltage) with the U-phase inverter output voltage Vu, and the U-phase inverter output voltage Vu and V separately from the voltage detection unit 3. An operational amplifier U1 that calculates a difference from the phase inverter output voltage Vv, and a comparator U2 that compares the output of the operational amplifier U1 with another reference voltage Vref2 (phase detection command voltage).
Here, the U phase is taken as an example, but the V phase and the W phase similarly include one operational amplifier and two comparators.
図２は、図１における電圧検出部３の動作を示した図（Ｕ相）である。インバータ装置がモータ５を駆動中、スイッチング素子Ｑ１がＯＮ動作した時の立上り過渡期は、電流ルートＩ１を経路とした、高速応答用ダイオードＤ１の逆方向ＡＫ間（Ａはアノード、Ｋはカソード）端子容量、抵抗器Ｒ２、Ｒ３を経由し、高速な立上り応答のＵ相インバータ出力電圧Ｖｕを得ることができる。
また、スイッチング素子Ｑ１がＯＮ動作した時の定常期は、電流ルートＩ２を経路とした、抵抗器Ｒ１、Ｒ２、Ｒ３を経由し、抵抗分圧比によるＵ相インバータ出力電圧Ｖｕを得ることができる。
また、スイッチング素子Ｑ１、Ｑ４がＯＦＦ動作した時の定常期は、電流ルートＩ４を経路とした、抵抗器Ｒ１、Ｒ２、Ｒ３を経由し、抵抗分圧比によるＵ相インバータ出力電圧Ｖｕを得ることができる。FIG. 2 is a diagram (U phase) illustrating the operation of the voltage detection unit 3 in FIG. The rising transition period when the switching element Q1 is ON while the inverter device is driving the motor 5 is between the reverse direction AK of the fast response diode D1 using the current route I1 (A is an anode, K is a cathode) The U-phase inverter output voltage Vu having a fast rising response can be obtained via the terminal capacitance and the resistors R2 and R3.
Further, during the steady period when the switching element Q1 is turned on, the U-phase inverter output voltage Vu based on the resistance voltage dividing ratio can be obtained via the resistors R1, R2, and R3 using the current route I2.
In the stationary phase when the switching elements Q1 and Q4 are turned off, the U-phase inverter output voltage Vu can be obtained by the resistance voltage dividing ratio via the resistors R1, R2 and R3 through the current route I4. it can.
また、スイッチング素子Ｑ１がＯＦＦ動作し、スイッチング素子Ｑ４がＯＮ動作した時の立下り過渡期は、電流ルートＩ３を経路とした、抵抗器Ｒ３、Ｒ２、ダイオードＤ１の順方向を経由し、抵抗器をプルダウンすることによる高速な立下り応答のＵ相インバータ出力電圧Ｖｕを得ることができる。
また、還流モードの場合は、還流電流が流れ過ぎることにより、ダイオードＤ１と抵抗器Ｒ３を破損させないように、抵抗器Ｒ２にて還流電流を抑制させるのである。
このように電圧検出部３を構成することにより、過渡期における高速なパルス応答と定常期における抵抗分圧比によるＵ相インバータ出力電圧Ｖｕを得ることができる。
なお、ここではＵ相を例に挙げたが、Ｖ相およびＷ相も同様に、Ｖ相インバータ出力電圧Ｖｖ、Ｗ相インバータ出力電圧Ｖｗを得る。Further, the falling transition period when the switching element Q1 is turned off and the switching element Q4 is turned on passes through the forward directions of the resistors R3 and R2 and the diode D1 through the current route I3. The U-phase inverter output voltage Vu having a high-speed falling response by pulling down can be obtained.
In the return mode, the return current is suppressed by the resistor R2 so as not to damage the diode D1 and the resistor R3 due to excessive flow of the return current.
By configuring the voltage detection unit 3 in this way, it is possible to obtain the U-phase inverter output voltage Vu based on the high-speed pulse response in the transition period and the resistance voltage division ratio in the stationary period.
In addition, although the U phase was mentioned here as an example, the V phase and the W phase similarly obtain the V phase inverter output voltage Vv and the W phase inverter output voltage Vw.
前述のようにインバータ装置がモータ５を駆動中、スイッチング素子Ｑ１がＯＮ動作した時の立上り過渡期、定常期、スイッチング素子Ｑ１がＯＦＦ動作し、スイッチング素子Ｑ４がＯＮ動作した時の立下り過渡期、スイッチング素子Ｑ１、Ｑ４がＯＦＦ動作した時の定常期にそれぞれ検出されたＵ相インバータ出力電圧Ｖｕは、電圧検出部３とは別に備えた、オペアンプＵ１、コンパレータＵ２、Ｕ３を用いて残留電圧Ｖｕｖ、位相Ｖｐｈｕｖ、高速パルスＶｐｕを検出するのである。
なお、Ｖ相およびＷ相も同様に、図示しないオペアンプおよびコンパレータを用いて、残留電圧Ｖｖｗ、Ｖｗｕ、位相Ｖｐｈｖｗ、Ｖｐｈｗｕ、高速パルスＶｐｖ、Ｖｐｗを検出する。As described above, while the inverter device is driving the motor 5, the rising transition period when the switching element Q1 is turned on, the steady period, and the falling transition period when the switching element Q1 is turned off and the switching element Q4 is turned on The U-phase inverter output voltage Vu detected in the stationary phase when the switching elements Q1 and Q4 are turned off are the residual voltage Vuv using the operational amplifier U1, the comparators U2 and U3, which are provided separately from the voltage detector 3. The phase Vphuv and the high speed pulse Vpu are detected.
Similarly, for the V phase and the W phase, residual voltages Vvw and Vwu, phases Vphvw and Vphwu, and high-speed pulses Vpv and Vpw are detected using an operational amplifier and a comparator (not shown).
残留電圧または位相を検出する必要性は、第２の従来技術（特許文献２参照）にも記載の通り、以下の通りである。
誘導電動機を可変速駆動する電力変換装置において、瞬時停電等の外的要因により誘導電動機がフリーラン状態になった後、電源回復した場合に、一旦停止してから再起動するのではなく、フリーラン状態の誘導電動機の回転数を検出し、電源回復後に、再起動条件が整ったときに、自動同期回転数引込みにより運転継続する自動再起動方法がある。
この際、誘導電動機の残留電圧を検出し、その残留電圧に基づいて誘導電動機の回転数または回転方向を検出して自動再起動を行なう、あるいは、誘導電動機の残留電圧の位相を検出し、フリーラン状態の期間にインバータ部の上アームあるいは下アームのスイッチング素子を同時に導通させる信号がオフされたときの短絡電流の極性が反転するタイミングにより誘導電動機の回転数または回転方向を検出して自動再起動を行なうのである。
したがって、自動再起動のためのフリーラン状態の誘導電動機の回転数または回転方向が検出するために、比較的高速な検出を必要としない残留電圧または位相を検出するのである。The necessity of detecting the residual voltage or phase is as follows as described in the second prior art (see Patent Document 2).
In a power converter that drives an induction motor at a variable speed, when the power is restored after the induction motor is in a free-run state due to an external factor such as an instantaneous power failure, it is free instead of being stopped and restarted. There is an automatic restart method in which the rotation speed of the induction motor in the run state is detected and the operation is continued by pulling in the automatic synchronous rotation speed when the restart condition is satisfied after the power is restored.
At this time, the residual voltage of the induction motor is detected, and based on the residual voltage, the number of revolutions or the direction of rotation of the induction motor is detected to perform automatic restart, or the phase of the residual voltage of the induction motor is detected and free. During the run state, the number of rotations or the direction of rotation of the induction motor is detected automatically at the timing when the polarity of the short-circuit current is reversed when the signal that simultaneously turns on the switching elements of the upper or lower arm of the inverter is turned off. Start up.
Therefore, in order to detect the rotation speed or rotation direction of the induction motor in the free-run state for automatic restart, the residual voltage or phase that does not require a relatively high speed detection is detected.
Ｕ、Ｖ、Ｗ相には、１２０度位相差をもったインバータ出力電圧（フリーラン状態時には誘起電圧）が発生するため、相間のインバータ出力電圧をオペアンプで差演算すれば、相間の残留電圧として検出することができる。また、オペアンプの出力（相間の残留電圧）と基準電圧（位相検出用指令電圧）とをコンパレータで比較すれば、相間の位相差の度合いを検出することができる。なお、ここでの基準電圧（位相検出用指令電圧）は、例えば、検出すべき位相差を電圧値換算した予め設定された値とすればよい。また、検出された残留電圧または位相に基づいて誘導電動機の回転数または回転方向を検出して自動再起動を行なう方法は、従来技術による方法を用いればよい。 In the U, V, and W phases, an inverter output voltage having a phase difference of 120 degrees (inductive voltage in the free-run state) is generated. Therefore, if the inverter output voltage between phases is calculated by an operational amplifier, the residual voltage between phases is obtained. Can be detected. In addition, if the output of the operational amplifier (residual voltage between phases) and the reference voltage (phase detection command voltage) are compared by a comparator, the degree of phase difference between the phases can be detected. Here, the reference voltage (phase detection command voltage) may be a preset value obtained by converting the phase difference to be detected into a voltage value, for example. Further, a method according to the prior art may be used as a method of detecting the rotation speed or rotation direction of the induction motor based on the detected residual voltage or phase and performing automatic restart.
高速パルスを検出する必要性は、第１の従来技術（特許文献１参照）にも記載の通り、誘導電動機の回転むらをなくすためである。
スイッチング素子Ｑ１がＯＮ動作した時の立上り過渡期の各相のインバータ出力電圧と基準電圧（電圧パルス生成用指令電圧）とをコンパレータで比較すれば、容易に高速にパルス検出できる。なお、ここでの基準電圧（電圧パルス生成用指令電圧）は、例えば、検出すべき電圧値の予め設定された値とすればよく、スイッチング素子のＯＮ、ＯＦＦを直流入力電圧の略１／２で高速に検出するのであれば、基準電圧（電圧パルス生成用指令電圧）を直流入力電圧の略１／２に相当する電圧値に換算したものとすればよい。また、検出された高速パルスに基づいて誘導電動機の回転むらをなくす方法は、従来技術による方法を用いればよい。The necessity of detecting the high-speed pulse is to eliminate uneven rotation of the induction motor as described in the first prior art (see Patent Document 1).
If the inverter output voltage of each phase in the rising transition period when the switching element Q1 is turned on and the reference voltage (voltage pulse generation command voltage) are compared by a comparator, the pulse can be easily detected at high speed. Here, the reference voltage (command voltage for voltage pulse generation) may be set to a preset value of the voltage value to be detected, for example, and the switching element is turned ON / OFF approximately half of the DC input voltage. If it is detected at a high speed, the reference voltage (voltage pulse generation command voltage) may be converted to a voltage value corresponding to approximately ½ of the DC input voltage. In addition, as a method for eliminating the rotation unevenness of the induction motor based on the detected high-speed pulse, a method according to the prior art may be used.
本発明は、インバータ装置におけるインバータ出力電圧を高速に検出すると共に、モータ残留電圧または位相を検出するインバータ装置とその出力電圧検出方法に関するものであるが、サーボ制御装置やロボット制御装置等、インバータ部分とモータとの間の出力構成は同じであるため、インバータ装置に限らずサーボ制御装置やロボット制御装置等、同様な出力構成を有する装置に適用することができる。 The present invention relates to an inverter device for detecting an inverter output voltage in an inverter device at a high speed and a motor residual voltage or phase and a method for detecting the output voltage. Since the output configuration between the motor and the motor is the same, the present invention can be applied not only to the inverter device but also to a device having a similar output configuration such as a servo control device or a robot control device.
Claims (9)
半導体スイッチング素子および前記半導体スイッチング素子に並列に接続された還流ダイオードより構成され、前記直流電力を交流電力に変換するインバータ部と、
前記インバータ部と駆動制御対象であるモータとの間に接続され、前記インバータ部の相電圧を検出する電圧検出部と、
を備えたインバータ装置において、
スイッチング過渡時でも検出電流を流すことによりスイッチング変化時まで含めて前記相電圧を検出する前記電圧検出部と、前記電圧検出部の出力である１相分の相電圧検出値と第１の基準電圧値との比較に基づいて高速パルスを検出する回路と、前記電圧検出部の出力である２相分の相電圧検出値に基づいて線間残留電圧または前記モータの誘起電圧を検出する回路と、前記線間残留電圧と第２の基準電圧値との比較に基づいて線間位相を検出する回路と、を１つの共通の回路内に組み込むことにより、高速パルス検出機能と残留電圧検出機能又は位相検出機能とを併せ持つインバータ出力電圧検出回路を設けたことを特徴とするインバータ装置。A DC power supply unit for supplying DC power to the inverter unit;
An inverter unit configured by a semiconductor switching element and a free-wheeling diode connected in parallel to the semiconductor switching element, and converting the DC power into AC power;
A voltage detection unit that is connected between the inverter unit and a motor that is a drive control target, and that detects a phase voltage of the inverter unit;
In an inverter device equipped with
The voltage detector that detects the phase voltage including the time of switching by flowing a detection current even during a switching transient, a phase voltage detection value for one phase that is an output of the voltage detector, and a first reference voltage A circuit that detects a high-speed pulse based on a comparison with a value, a circuit that detects a line-to-line residual voltage or an induced voltage of the motor based on a phase voltage detection value for two phases that is an output of the voltage detection unit, A circuit for detecting a phase between lines based on a comparison between the residual voltage between lines and the second reference voltage value is incorporated in one common circuit, so that a high-speed pulse detection function and a residual voltage detection function or phase inverter device is characterized by providing an inverter output voltage detection circuit having both a detecting function.
一方の端を前記第１の抵抗器に接続し、他端を第３の抵抗器に接続した前記第２の抵抗器と、
一方の端を前記第２の抵抗器に接続し、他端を前記直流電源部のＮラインに接続した前記第３の抵抗器と、
アノードを前記インバータ部と前記モータとの間に接続し、カソードを前記第１の抵抗器と前記第２の抵抗器が接続された箇所に接続した高速ダイオードと、で構成されたことを特徴とする請求項１記載のインバータ装置。A first resistor having one end connected between the inverter unit and the motor and the other end connected to a second resistor;
The second resistor having one end connected to the first resistor and the other end connected to a third resistor;
The third resistor having one end connected to the second resistor and the other end connected to the N line of the DC power supply;
A high-speed diode having an anode connected between the inverter unit and the motor, and a cathode connected to a location where the first resistor and the second resistor are connected, The inverter device according to claim 1.
前記電圧検出部の出力である１相分の相電圧検出値と第１の基準電圧値との比較に基づいて高速パルスを検出し、
前記電圧検出部の出力である２相分の相電圧検出値に基づいて線間残留電圧を検出し、
前記線間残留電圧と第２の基準電圧値との比較に基づいて線間位相を検出することにより、
高速パルス検出機能と残留電圧検出機能又は位相検出機能とを１つの回路で共通化したことを特徴とするインバータ装置の出力電圧検出方法。A DC power supply unit that supplies DC power to the inverter unit; a semiconductor switching element; and an inverter unit that is connected in parallel to the semiconductor switching element, the inverter unit that converts the DC power to AC power, and the inverter unit. An output of an inverter device comprising: a voltage detection unit which is connected between a motor which is a drive control target and detects a phase voltage of the inverter unit including a time of switching change by causing a detection current to flow even during a switching transient In the voltage detection method,
Detecting a high-speed pulse based on a comparison between a phase voltage detection value for one phase that is an output of the voltage detection unit and a first reference voltage value;
Detecting the residual voltage between the lines based on the phase voltage detection value for two phases that is the output of the voltage detection unit;
By detecting the line phase based on the comparison between the line residual voltage and the second reference voltage value ,
An output voltage detection method for an inverter device, wherein a high-speed pulse detection function and a residual voltage detection function or phase detection function are shared by a single circuit .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009521559A JP5093692B2 (en) | 2007-07-02 | 2008-06-04 | Inverter device and its output voltage detection method |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007173752 | 2007-07-02 | ||
| JP2007173752 | 2007-07-02 | ||
| JP2009521559A JP5093692B2 (en) | 2007-07-02 | 2008-06-04 | Inverter device and its output voltage detection method |
| PCT/JP2008/060258 WO2009004888A1 (en) | 2007-07-02 | 2008-06-04 | Inverter and method for detecting output voltage of the same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPWO2009004888A1 JPWO2009004888A1 (en) | 2010-08-26 |
| JP5093692B2 true JP5093692B2 (en) | 2012-12-12 |
Family
ID=40225944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2009521559A Active JP5093692B2 (en) | 2007-07-02 | 2008-06-04 | Inverter device and its output voltage detection method |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US8084974B2 (en) |
| JP (1) | JP5093692B2 (en) |
| CN (1) | CN101682292B (en) |
| TW (1) | TWI423578B (en) |
| WO (1) | WO2009004888A1 (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5163536B2 (en) * | 2009-02-25 | 2013-03-13 | 株式会社日立製作所 | Induced voltage detection circuit, motor driving semiconductor device having the same, motor and air conditioner |
| TWI478796B (en) * | 2010-02-08 | 2015-04-01 | Hon Hai Prec Ind Co Ltd | System and method for testing objects using a mechanical arm |
| CN102385036B (en) * | 2010-09-28 | 2014-06-04 | 深圳市英威腾电源有限公司 | Method and circuit for detecting alternating-current fuse failure of uninterruptible power supply |
| FR2969859A1 (en) * | 2010-12-22 | 2012-06-29 | Francecol Technology | Electronic dimmer for load, has voltage comparator comparing supply voltage of load with reference voltage, where supply voltage is measured between intermediate point among chopper controlled switches, and low potential line |
| JP5421405B2 (en) * | 2012-02-28 | 2014-02-19 | ファナック株式会社 | Motor drive device having dynamic brake control means |
| CN102707179B (en) * | 2012-06-15 | 2015-12-02 | 北京鼎汉技术股份有限公司 | A kind of fault detection device for inverter |
| JP6070139B2 (en) * | 2012-12-11 | 2017-02-01 | ブラザー工業株式会社 | Voltage abnormality detector |
| KR101800644B1 (en) * | 2013-11-08 | 2017-11-23 | 엘지전자 주식회사 | Motor driving apparatus and laundry treatment machine including the same |
| CN107219473B (en) * | 2017-05-17 | 2020-05-12 | 南通欧贝黎新能源电力股份有限公司 | Photovoltaic inverter testing method |
| KR102014185B1 (en) * | 2018-03-27 | 2019-08-26 | 엘에스산전 주식회사 | Apparatus for determining peak current in inverter |
| CN110308341B (en) * | 2019-05-09 | 2021-09-03 | 阳光电源股份有限公司 | Inversion module detection method, device and system in energy conversion system |
| GB2602824A (en) * | 2021-01-18 | 2022-07-20 | Daimler Ag | A device for testing power electronics of a motor vehicle in the loop with a hardware-in-the-loop device as well as a system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01126192A (en) * | 1987-11-10 | 1989-05-18 | Toshiba Corp | Driving gear for brushless motor |
| JPH0469066A (en) * | 1990-06-29 | 1992-03-04 | Mitsubishi Electric Corp | Inverter |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5311419A (en) * | 1992-08-17 | 1994-05-10 | Sundstrand Corporation | Polyphase AC/DC converter |
| JPH06121544A (en) | 1992-10-09 | 1994-04-28 | Meidensha Corp | Voltage detecting circuit for inverter |
| JP2791273B2 (en) * | 1993-09-07 | 1998-08-27 | 株式会社東芝 | Power converter |
| US5481166A (en) * | 1993-12-30 | 1996-01-02 | Whirlpool Corporation | Motor control for brushless permanent magnet using only three wires |
| JPH09117186A (en) * | 1995-10-13 | 1997-05-02 | Zexel Corp | Dc brushless motor drive |
| US6232730B1 (en) * | 1998-06-05 | 2001-05-15 | Matsushita Electric Industrial Co., Ltd. | Brushless motor driving circuit and a method of controlling the brushless motor driving circuit |
| JP2000316294A (en) * | 1999-04-27 | 2000-11-14 | Hitachi Ltd | Dc brushless motor drive and air conditioner using the same |
| US6115274A (en) * | 1999-06-01 | 2000-09-05 | Lucent Technologies Inc. | Frequency modulation controller for single-switch, polyphase, DCM boost converter and method of operation thereof |
| JP3965395B2 (en) * | 2004-05-18 | 2007-08-29 | 松下電器産業株式会社 | Motor drive device |
| JP4622640B2 (en) * | 2005-04-06 | 2011-02-02 | 三菱電機株式会社 | Power converter |
| PL1816739T3 (en) * | 2006-02-04 | 2008-08-29 | Diehl Ako Stiftung Gmbh & Co | Method and apparatus for control of a multi-phase electronically commutated motor |
-
2008
- 2008-06-04 CN CN2008800194705A patent/CN101682292B/en active Active
- 2008-06-04 JP JP2009521559A patent/JP5093692B2/en active Active
- 2008-06-04 WO PCT/JP2008/060258 patent/WO2009004888A1/en active Application Filing
- 2008-07-01 TW TW097124716A patent/TWI423578B/en not_active IP Right Cessation
-
2009
- 2009-12-09 US US12/634,603 patent/US8084974B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01126192A (en) * | 1987-11-10 | 1989-05-18 | Toshiba Corp | Driving gear for brushless motor |
| JPH0469066A (en) * | 1990-06-29 | 1992-03-04 | Mitsubishi Electric Corp | Inverter |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI423578B (en) | 2014-01-11 |
| CN101682292B (en) | 2012-09-05 |
| US8084974B2 (en) | 2011-12-27 |
| US20100085001A1 (en) | 2010-04-08 |
| WO2009004888A1 (en) | 2009-01-08 |
| CN101682292A (en) | 2010-03-24 |
| JPWO2009004888A1 (en) | 2010-08-26 |
| TW200924370A (en) | 2009-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5093692B2 (en) | Inverter device and its output voltage detection method | |
| JP5095042B1 (en) | Motor drive device | |
| JP4847597B2 (en) | Motor drive device having power regeneration operation mode switching function | |
| JP4772104B2 (en) | Power converter | |
| JP5503008B2 (en) | AC motor rotation direction detection method and AC motor power converter using the same | |
| JP2010011540A (en) | Motor controller | |
| JP6225371B2 (en) | Motor drive device | |
| JP6233428B2 (en) | Motor control device and motor control method | |
| JP2017093073A (en) | Power conversion apparatus | |
| JP2008253008A (en) | Power converter and method for deciding incorrect connection of power supply | |
| JP6348779B2 (en) | Synchronous motor drive system | |
| JP4300352B2 (en) | Motor drive control device | |
| JP4775547B2 (en) | Inverter device | |
| JP4422514B2 (en) | Power converter | |
| JP4369500B2 (en) | Rotating electrical machine equipment | |
| JP2007074834A (en) | Starter for sensorless motors | |
| JP2005102349A (en) | Current detector | |
| JP7345564B2 (en) | Power conversion device and its current detection method | |
| JP4622640B2 (en) | Power converter | |
| JP2001025290A (en) | Control device | |
| JP5278052B2 (en) | Matrix converter circuit | |
| JP4265395B2 (en) | Inverter device | |
| JP2017060314A (en) | Three-phase inverter device | |
| KR100202577B1 (en) | Sensorless bldc motor control method and apparatus | |
| JP2021093807A (en) | Control apparatus, motor unit, and abnormity estimation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20100614 |
|
| RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20120314 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120530 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120704 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20120824 |
|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20120906 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 5093692 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150928 Year of fee payment: 3 |